CN109048844A - It is a kind of machinery arm configuration and its building ball picking robot - Google Patents
It is a kind of machinery arm configuration and its building ball picking robot Download PDFInfo
- Publication number
- CN109048844A CN109048844A CN201811073534.1A CN201811073534A CN109048844A CN 109048844 A CN109048844 A CN 109048844A CN 201811073534 A CN201811073534 A CN 201811073534A CN 109048844 A CN109048844 A CN 109048844A
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- Prior art keywords
- mechanical arm
- motor
- main mechanical
- bearing
- car body
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- 238000004064 recycling Methods 0.000 claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims description 12
- 238000013016 damping Methods 0.000 claims description 11
- 230000033001 locomotion Effects 0.000 claims description 10
- 210000000707 wrist Anatomy 0.000 claims description 10
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 5
- 239000011664 nicotinic acid Substances 0.000 claims description 4
- 230000001404 mediated effect Effects 0.000 claims description 3
- 230000004888 barrier function Effects 0.000 claims description 2
- 230000009471 action Effects 0.000 abstract description 3
- 230000000694 effects Effects 0.000 abstract description 3
- 238000004898 kneading Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 9
- 238000011160 research Methods 0.000 description 7
- 230000015572 biosynthetic process Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B47/00—Devices for handling or treating balls, e.g. for holding or carrying balls
- A63B47/02—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting
- A63B47/021—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting for picking-up automatically, e.g. by apparatus moving over the playing surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/086—Gripping heads and other end effectors having finger members with means for synchronizing the movements of the fingers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of mechanical arm configuration and its ball picking robots of building, belong to sports equipment field.The present invention includes mechanical arm, manipulator；Mechanical arm is connect with manipulator.Mechanical arm configuration of the invention can carry out kneading action using mechanical arm and manipulator collective effect, and the ball picking robot which is used to construct can be effectively picked up ball and be put into recycling frame to which ball is picked up in realization.
Description
Technical field
The present invention relates to a kind of mechanical arm configuration and its ball picking robots of building, belong to sports equipment field.
Background technique
Since middle 1980s, robot gradually moves towards all trades and professions from the structuring of factory, enters
21st century, people more and more experienced in person robot deeply produce, live and society solid paces.In recent years
Come, more and more service robots are also employed for various industries, and for assisting, servicing, medical treatment is educated, and amusement etc. is a variety of
Environment.The Ball Game Robots research object important as a service entertainment class, is increasingly becoming the hot spot that various countries are developed.
A big type of the ball picking robot as service robot, nearly hot spot for having become robot research field for 5 years.
Mainly there are the robot for picking up such as golf, tennis, table tennis and shuttlecock in the robot of development.By domestic and international present Research
Analysis and summary are directed to ball object robot for picking up it is found that in addition to developing the dedicated receipts ball robot product of golf at present
Research achievement is fewer, and most of still in primary research and trial stage, comprehensive technical level and service level are relatively low.Mesh
Before, the market forward direction of ball recycling machine people continues to develop, by domestic and international present Research analysis and summary it is found that being directed to ball time
It is less to receive robot research achievement, mostly in studying and is attempting to debug the model machine stage, service performance is bad, working performance
Generally.However, with service robot automation require improve, the automation of service robot and it is unmanned become current machine
The urgent need of device human hair exhibition, with regard to ball recycling machine people for, mostly man-computer cooperation instantly, or control are mutually concerned with operation
It disturbs, has both increased labour cost investment, increased the human resources in today's society aging of population human resources scarcity situation
Burden, and increase the investment of technology and resources costs.
Summary of the invention
The present invention provides a kind of mechanical arm configuration and its ball picking robots of building, by reasonably constituting and connecting structure
Kneading action is realized at mechanical arm configuration, and the ball picking robot by its building is for picking up ball.
The technical scheme is that a kind of machinery arm configuration, including mechanical arm, manipulator 13；Mechanical arm and manipulator
13 connections；
The mechanical arm includes main mechanical arm 1, main mechanical arm 2 11, main mechanical arm 3 12, motor cabinet 1, motor one
45, bearing 2 43, motor cabinet 2 52, motor 2 46, bearing 3 66, motor cabinet 3 48, motor 3 49 and bearing 4 50, on arm
47 with arm under 51 be bolted and be fixed into main mechanical arm 3 12；Wherein motor 1 is mounted on motor cabinet 1, electricity
Base 1 is mounted on main mechanical arm 1, and one 45 output shaft of motor and main mechanical arm 2 11 are connected, main mechanical arm 1 and master
Mechanical arm 2 11 forms revolute pair by bearing 2 43；Motor 2 46 is mounted on motor cabinet 2 52, and motor cabinet 2 52 is mounted on
On main mechanical arm 3 11,2 46 output shaft of motor and main mechanical arm 3 12 are connected, and main mechanical arm 2 11 and main mechanical arm 3 12 are logical
It crosses bearing 3 66 and forms revolute pair；Motor 3 49 is mounted on motor cabinet 3 48, and motor cabinet 3 48 is mounted on main mechanical arm 3 12
On, 3 48 output shaft of motor and manipulator 13 are connected, and main mechanical arm 3 12 and manipulator 13 pass through the formation revolute pair of bearing 4 50；
One 45 output shaft of motor drives main mechanical arm 2 11 to move, and 2 46 output shaft of motor drives main mechanical arm 3 12 to move, motor three
The movement of 49 output shaft driving manipulators 13；
The manipulator 13 include connecting joint 53, support wrist 54, rotating disk 55, bearing 1, gripper connecting rod 1,
Gripper connecting rod 2 58, artificial finger 1, pallet 60, artificial finger 2 61, rotating electric machine 62；Wherein support 54 one end of wrist peace
In connecting joint 53, support 54 other end of wrist is mounted on pallet 60, and rotating electric machine 62 is mounted on pallet 60, rotation
62 main shaft of motor and rotating disk 55 are connected, and gripper connecting rod 1 forms revolute pair by the slot on bearing 1 and rotating disk 55,
By hinge formation revolute pair, connecting rod 2 58 passes through hinge and one 59 shape of artificial finger for gripper connecting rod 1 and gripper connecting rod 2 58
At revolute pair, artificial finger 1 and artificial finger 2 61 are bolted and are fixed into artificial finger, and gripper motor 3 49 is defeated
Shaft drives the rotary motion of entire manipulator 13, and 62 output shaft of rotating electric machine drives rotating disk 55 to rotate, and rotating disk 55 turns
It is dynamic bionic finger 1, artificial finger 2 61 to be driven to be mediated by connected gripper connecting rod 1, gripper connecting rod 2 58.
It is a kind of machinery arm configuration building ball picking robot, further include walking steering mechanism 1, car body support damping 2,
Car body 6, recycling frame 8；Recycling frame 8 is mounted on 6 rear side of car body, and mechanical arm is connect with manipulator 13, is mounted on 6 two sides of car body；
The walking steering mechanism 1 includes support frame 63, rubber wheel 64, driving motor 1, and walking steering mechanism 1 is
The four wheeled structure of 4 wheel driven, 63 two sides of support frame are respectively arranged there are two rubber wheel 64, and rubber wheel 64 is defeated with driving motor 1
Shaft is connected, and driving motor 1 is mounted on the work shape frame motor cabinet 68 of car body support damping 2, passes through four driving electricity
The rotation of machine 1 drives the rotation of rubber wheel 64 to steering and advance and retreat with motor vehicles bodies 6；
The car body support damping 2 includes L shape frame 14, spring 15, upper connecting rod 16, work shape frame motor cabinet 68 and lower company
Bar 69；Wherein L shape frame 14 is connect with support frame 63,14 end of upper connecting rod 16, lower link 69 and L shape frame, work shape frame motor cabinet 68
End constitutes a parallelogram bracket, is hinged to form revolute pair at connection end point, spring 15 by hinge with
Quadrangle bracket diagonally connects and forms revolute pair；
The car body 6 includes upper-lower casing and deceleration device, and wherein deceleration device includes driving motor 2 17, shaft coupling
18, small bearing 19, pinion gear 20, small bearing bracket 21, big bearing block 22, axis 23, gear wheel 24 and big bearing 25；Wherein lower case
Inside is support frame 63, is upper housing above lower case, and driving motor 2 17 is mounted on upper housing, and 2 17 axis of driving motor is logical
It crosses shaft coupling 18 to be connected with 20 axis of pinion gear, pinion gear 20 is engaged with gear wheel 24, and pinion gear 20 is mounted on by small bearing 19
On small bearing bracket 21, small bearing bracket 21 is mounted on upper housing, and gear wheel 24 is mounted on axis 23, and axis 23 is pacified by big bearing 25
It fills on big bearing block 22, big bearing block 22 is mounted on upper housing, and 23 one end of axis is connect with main mechanical arm 1, driving motor two
17 output shaft driving pinions 20 move to drive gear wheel 24, and the fortune of main mechanical arm 1 in mechanical arm is realized by axis 23
It is dynamic.
It further include changing frame module 10；The frame module 10 of changing includes cabinet 35, polished rod 34, buckle 33, hydraulic cylinder 32；Wherein
Polished rod 34 is connected on cabinet 35, and hydraulic cylinder 32 is connect by hinge with buckle 33, and cabinet 35 is mounted on 6 back side of car body, buckle
33 connect with recycling frame 8, so that hydraulic cylinder 32 is worked by controlling output, push buckle 33 to move on polished rod 34, put down recycling
Frame 8.
It further include the ball picking robot vision module for being mounted on the positive obstacle avoidance module 4 of car body 6, being mounted on 6 top of car body
7, master controller, obstacle avoidance module 4 use infrared ray obstacle avoidance sensor, and ball picking robot vision module 7 uses Pixy CmuCam5
Image recognition sensor 67；Infrared ray obstacle avoidance sensor is for carrying out avoidance, Pixy CmuCam5 figure during robot ambulation
As identification sensor 67 is used to send to the location information for the ball that vision collecting captures master controller, control walking turning machine
1 running fix of structure.
The beneficial effects of the present invention are: present invention machinery arm configuration can be carried out using mechanical arm and manipulator collective effect
The ball picking robot that the structure is used to construct can be effectively picked up ball and be put into recycling frame to which ball is picked up in realization by kneading action.
Detailed description of the invention
Fig. 1 is oblique two side of the invention schematic diagram；
Fig. 2 is that present invention walking steering mechanism and car body support damping schematic diagram；
Fig. 3 is vehicle body deceleration device schematic diagram of the present invention；
Fig. 4 is that the present invention changes frame module diagram；
Fig. 5 is mechanical arm schematic diagram of the present invention；
Fig. 6 is mechanical arm partial enlargement diagram of the present invention；
Fig. 7 is manipulator schematic diagram one of the present invention；
Fig. 8 is manipulator schematic diagram two of the present invention；
Fig. 9 is Pixy CmuCam5 image recognition sensor schematic diagram of the present invention；
Each label in figure are as follows: 1- walking steering mechanism, 2- car body support damping, 4- obstacle avoidance module, 6- car body, 7- machine
Tool arm configuration vision module, 8- recycle frame, 9- main mechanical arm one, and 10- changes frame module, 11- main mechanical arm two, 12- main mechanical arm
Three, 13- manipulator, 14- bracket, 15- spring, 16- connecting rod, 17- driving motor two, 18- shaft coupling, the small bearing of 19-, 20- are small
Gear, 21- small bearing bracket, the big bearing block of 22-, 23- axis, 24- gear wheel, the big bearing of 25-, 32- hydraulic cylinder, 33- buckle, 34-
Polished rod, 35- cabinet, 43- bearing two, 44- motor cabinet one, 45- motor one, 46- motor two, on 47- arm, 48- motor cabinet two,
49- motor three, 50- bearing four, under 51- arm, 52- motor cabinet two, 53- connecting joint, 54- supports wrist, 55- rotating disk,
56- bearing one, 57- gripper connecting rod one, 58- gripper connecting rod two, 59- bionic finger one, 60- pallet, 61- artificial finger two, 62-
Rotating electric machine, 63- support frame, 64- rubber wheel, 65- driving motor one, 66- bearing three, 67-Pixy CmuCam5 image recognition
Sensor, 68- work shape frame motor cabinet, 69- lower link.
Specific embodiment
With reference to the accompanying drawings and examples, the invention will be further described, but the contents of the present invention be not limited to it is described
Range.
Embodiment 1: as shown in figs. 1-9, a kind of machinery arm configuration, including mechanical arm, manipulator 13；Mechanical arm and machinery
Hand 13 connects；
The mechanical arm includes main mechanical arm 1, main mechanical arm 2 11, main mechanical arm 3 12, motor cabinet 1, motor one
45, bearing 2 43, motor cabinet 2 52, motor 2 46, bearing 3 66, motor cabinet 3 48, motor 3 49 and bearing 4 50, on arm
47 with arm under 51 be bolted and be fixed into main mechanical arm 3 12；Wherein motor 1 is mounted on motor cabinet 1, electricity
Base 1 is mounted on main mechanical arm 1, and one 45 output shaft of motor and main mechanical arm 2 11 are connected, main mechanical arm 1 and master
Mechanical arm 2 11 forms revolute pair by bearing 2 43；Motor 2 46 is mounted on motor cabinet 2 52, and motor cabinet 2 52 is mounted on
On main mechanical arm 3 11,2 46 output shaft of motor and main mechanical arm 3 12 are connected, and main mechanical arm 2 11 and main mechanical arm 3 12 are logical
It crosses bearing 3 66 and forms revolute pair；Motor 3 49 is mounted on motor cabinet 3 48, and motor cabinet 3 48 is mounted on main mechanical arm 3 12
On, 3 48 output shaft of motor and manipulator 13 are connected, and main mechanical arm 3 12 and manipulator 13 pass through the formation revolute pair of bearing 4 50；
One 45 output shaft of motor drives main mechanical arm 2 11 to move, and 2 46 output shaft of motor drives main mechanical arm 3 12 to move, motor three
The movement of 49 output shaft driving manipulators 13；The manipulator 13 includes connecting joint 53, support wrist 54, rotating disk 55, bearing
One 56, gripper connecting rod 1, gripper connecting rod 2 58, artificial finger 1, pallet 60, artificial finger 2 61, rotating electric machine 62；Its
Middle 54 one end of support wrist is mounted in connecting joint 53, and support 54 other end of wrist is mounted on pallet 60, rotating electric machine 62
It is mounted on pallet 60,62 main shaft of rotating electric machine and rotating disk 55 are connected, and gripper connecting rod 1 passes through bearing 1 and rotating disk
Slot on 55 forms revolute pair, gripper connecting rod 1 and gripper connecting rod 2 58 and forms revolute pair by hinge, and connecting rod 2 58 passes through
Hinge and artificial finger 1 form revolute pair, and artificial finger 1 and artificial finger 2 61, which are bolted, is fixed into emulation
Finger, 3 49 output shaft of gripper motor drive the rotary motion of entire manipulator 13, and 62 output shaft of rotating electric machine drives rotating disk
The rotation of 55 rotations, rotating disk 55 can drive bionic finger 1 by connected gripper connecting rod 1, gripper connecting rod 2 58, imitate
True finger 2 61 is mediated.
A kind of ball picking robot of machinery arm configuration building further includes that walking turns except the specific place for including mechanical arm configuration
To mechanism 1, car body support damping 2, car body 6, recycling frame 8；Recycling frame 8 is mounted on 6 rear side of car body, mechanical arm and manipulator
13 connections, are mounted on 6 two sides of car body；The walking steering mechanism 1 includes support frame 63, rubber wheel 64, driving motor 1,
Walking steering mechanism 1 is the four wheeled structure of 4 wheel driven, and 63 two sides of support frame are respectively arranged there are two rubber wheel 64, rubber wheel 64 and is driven
The output shaft fixed connection of dynamic motor 1, driving motor 1 are mounted on the work shape frame motor cabinet 68 of car body support damping 2,
Drive the rotation of rubber wheel 64 to steering and advance and retreat with motor vehicles bodies 6 by the rotation of four driving motors 1；It is described
It includes L shape frame 14, spring 15, upper connecting rod 16, work shape frame motor cabinet 68 and lower link 69 that car body, which supports damping 2,；Wherein L shape
Frame 14 is connect with support frame 63, and 14 end of upper connecting rod 16, lower link 69 and L shape frame, 68 end of work shape frame motor cabinet constitute one
Parallelogram bracket is hinged to form revolute pair at connection end point, and spring 15 passes through hinge and quadrangle bracket pair
Angle connects to form revolute pair, and when car body 6 is moved or shaken, spring 15 is flexible, quadrangle riding, plays buffering and stablizes vehicle
The effect of body and the motion vertical for guaranteeing rubber wheel 64 and ground；The car body 6 includes upper-lower casing and deceleration device, wherein
Deceleration device includes driving motor 2 17, shaft coupling 18, small bearing 19, pinion gear 20, small bearing bracket 21, big bearing block 22, axis
23, gear wheel 24 and big bearing 25；Wherein it is support frame 63 on the inside of lower case, is upper housing, driving motor two above lower case
17 are mounted on upper housing, and 2 17 axis of driving motor is connected by shaft coupling 18 with 20 axis of pinion gear, pinion gear 20 and gear wheel
24 engagements, pinion gear 20 are mounted on small bearing bracket 21 by small bearing 19, and small bearing bracket 21 is mounted on upper housing, gear wheel
24 are mounted on axis 23, and axis 23 is installed on big bearing block 22 by big bearing 25, and big bearing block 22 is mounted on upper housing, axis 23
One end is connect with main mechanical arm 1, and 2 17 output shaft driving pinion 20 of driving motor moves to drive gear wheel 24, is passed through
Axis 23 realizes the movement of main mechanical arm 1 in mechanical arm.
It further include changing frame module 10 it is possible to further be arranged；The frame module 10 of changing includes cabinet 35, polished rod 34, card
Detain 33, hydraulic cylinder 32；Wherein polished rod 34 is connected on cabinet 35, and hydraulic cylinder 32 is connect by hinge with buckle 33, and cabinet 35 is pacified
Mounted in 6 back side of car body, buckle 33 is connect with recycling frame 8, so that hydraulic cylinder 32 is worked by controlling output, is pushed buckle 33 in polished rod
It is moved on 34, puts down recycling frame 8.
It further include being mounted on the positive obstacle avoidance module 4 of car body 6, being mounted on picking up for 6 top of car body it is possible to further be arranged
Ball robot vision module 7, master controller, obstacle avoidance module 4 use infrared ray obstacle avoidance sensor, ball picking robot vision module 7
Using Pixy CmuCam5 image recognition sensor 67；Infrared ray obstacle avoidance sensor during robot ambulation for being kept away
Barrier, Pixy CmuCam5 image recognition sensor 67 are used to send the location information for the ball that vision collecting captures to main control
Device, control walking 1 running fix of steering mechanism.
The course of work of the invention is:
Obstacle avoidance module 4, mechanical arm Structural visual module 7, the design of master controller can cooperate machine during use
Tool structure carry out corresponding sports, driving motor 1 drive rubber wheel 54 moved, thus the steering with motor vehicles bodies 6 and into
It moves back.
Specifically, cooperating the pickup for realizing ball with mechanical arm: by one 7 drive shaft of motor on car body 6, on rear axle
Gear is moved, and slow down transfers power to main mechanical arm 1, and subsequent motor 1, motor 2 46, motor 3 49 are mutual
Manipulator 13 is surrounded ball range by cooperation, and rotating electric machine 62 drives rotating disk 55, is driven by connected gripper connecting rod 58 bionical
Grip finger ball, subsequent mechanical arm and manipulator interaction, ball is put into recycling bin 8.Can have in ball bucket top design
Get an electric shock device, and when ball barreled is full, electric shock device is sounded an alarm, and the ball bucket that robot then fills in tow changes frame module to fixed position
The driving of hydraulic cylinder 32 buckle 33 declines on polished rod 34 in 10, puts down recycling bin 8, then buckle 33 rises on polished rod 34, band
Overhead recycling bin 8.The design of mechanical arm can be preferably applied to pick up big ball.
Above in conjunction with attached drawing, the embodiment of the present invention is explained in detail, but the present invention is not limited to above-mentioned
Embodiment within the knowledge of a person skilled in the art can also be before not departing from present inventive concept
Put that various changes can be made.
Claims (4)
1. a kind of machinery arm configuration, it is characterised in that: including mechanical arm, manipulator (13)；Mechanical arm is connect with manipulator (13)；
The mechanical arm includes main mechanical arm one (9), main mechanical arm two (11), main mechanical arm three (12), motor cabinet one (44), electricity
Machine one (45), bearing two (43), motor cabinet two (52), motor two (46), bearing three (66), motor cabinet three (48), motor three
(49) and bearing four (50), (51) are bolted and are fixed into main mechanical arm three (12) under (47) and arm on arm；Wherein
Motor one (45) is mounted on motor cabinet one (44), and motor cabinet one (44) is mounted on main mechanical arm one (9), and motor one (45) is defeated
Shaft and main mechanical arm two (11) are connected, and main mechanical arm one (9) and main mechanical arm two (11) are formed by bearing two (43) and rotated
It is secondary；Motor two (46) is mounted on motor cabinet two (52), and motor cabinet two (52) is mounted on main mechanical arm three (11), motor two
(46) output shaft and main mechanical arm three (12) are connected, and main mechanical arm two (11) and main mechanical arm three (12) pass through bearing three (66) shape
At revolute pair；Motor three (49) is mounted on motor cabinet three (48), and motor cabinet three (48) is mounted on main mechanical arm three (12), electricity
Machine three (48) output shaft and manipulator (13) are connected, and main mechanical arm three (12) and manipulator (13) are formed by bearing four (50) and turned
Dynamic pair；Motor one (45) output shaft drives main mechanical arm two (11) movement, and motor two (46) output shaft drives main mechanical arm three
(12) it moves, motor three (49) output shaft driving manipulator (13) movement；
The manipulator (13) includes connecting joint (53), support wrist (54), rotating disk (55), bearing one (56), gripper company
Bar one (57), gripper connecting rod two (58), artificial finger one (59), pallet (60), artificial finger two (61), rotating electric machine (62)；
Wherein support wrist (54) one end is mounted on connecting joint (53), and support wrist (54) other end is mounted on pallet (60),
Rotating electric machine (62) is mounted on pallet (60), and rotating electric machine (62) main shaft and rotating disk (55) are connected, gripper connecting rod one (57)
Revolute pair is formed by the slot on bearing one (56) and rotating disk (55), gripper connecting rod one (57) passes through with gripper connecting rod two (58)
Hinge forms revolute pair, and connecting rod two (58) forms revolute pair by hinge and artificial finger one (59), artificial finger one (59) with
Artificial finger two (61), which is bolted, is fixed into artificial finger, and gripper motor three (49) output shaft drives entire manipulator
(13) rotary motion, rotating electric machine (62) output shaft drive rotating disk (55) rotation, and the rotation of rotating disk (55) can pass through phase
Gripper connecting rod one (57) even, gripper connecting rod two (58) drive bionic finger one (59), artificial finger two (61) to be mediated.
2. a kind of ball picking robot of mechanical arm configuration building according to claim 1, it is characterised in that: further include walking
Steering mechanism (1), car body support damping (2), car body (6), recycling frame (8)；Recycling frame (8) is mounted on rear side of car body (6),
Mechanical arm is connect with manipulator (13), is mounted on car body (6) two sides；
The walking steering mechanism (1) includes support frame (63), rubber wheel (64), driving motor one (65), turning machine of walking
Structure (1) is the four wheeled structure of 4 wheel driven, and support frame (63) two sides are respectively arranged there are two rubber wheel (64), rubber wheel (64) and driving
The output shaft fixed connection of motor one (65), driving motor one (65) are mounted on the work shape frame motor cabinet of car body support damping (2)
(68) on, drive the rotation of rubber wheel (64) to the steering with motor vehicles bodies (6) by the rotation of four driving motors one (65)
And it retreats；
Car body support damping (2) includes L shape frame (14), spring (15), upper connecting rod (16), work shape frame motor cabinet (68)
With lower link (69)；Wherein L shape frame (14) is connect with support frame (63), upper connecting rod (16), lower link (69) and L shape frame (14) end
End, work shape frame motor cabinet (68) end constitute a parallelogram bracket, are hinged to form rotation at connection end point
Pair, spring (15) diagonally connect to form revolute pair by hinge with quadrangle bracket；
The car body (6) includes upper-lower casing and deceleration device, and wherein deceleration device includes driving motor two (17), shaft coupling
(18), small bearing (19), pinion gear (20), small bearing bracket (21), big bearing block (22), axis (23), gear wheel (24) and big axis
Hold (25)；Wherein being on the inside of lower case support frame (63) is upper housing above lower case, and driving motor two (17) is mounted on upper casing
On body, driving motor two (17) axis is connected by shaft coupling (18) with pinion gear (20) axis, pinion gear (20) and gear wheel (24)
Engagement, pinion gear (20) are mounted on small bearing bracket (21) by small bearing (19), and small bearing bracket (21) is mounted on upper housing,
Gear wheel (24) is mounted on axis (23), and axis (23) is installed on big bearing block (22) by big bearing (25), big bearing block (22)
It is mounted on upper housing, axis (23) one end is connect with main mechanical arm one (9), driving motor two (17) output shaft driving pinion
(20) to which drive gear wheel (24) move, the movement of main mechanical arm one (9) in mechanical arm is realized by axis (23).
3. ball picking robot according to claim 2, it is characterised in that: further include changing frame module (10)；It is described to change frame mould
Block (10) includes cabinet (35), polished rod (34), buckle (33), hydraulic cylinder (32)；Wherein polished rod (34) is connected on cabinet (35),
Hydraulic cylinder (32) is connect by hinge with buckle (33), and cabinet (35) is mounted on car body (6) back side, buckle (33) and recycling frame
(8) it connects, so that hydraulic cylinder (32) is worked by controlling output, push buckle (33) to move on polished rod (34), put down recycling frame
(8)。
4. ball picking robot according to claim 2, it is characterised in that: further include being mounted on car body (6) positive avoidance
Module (4), ball picking robot vision module (7), the master controller for being mounted on car body (6) top, obstacle avoidance module (4) is using infrared
Line obstacle avoidance sensor, ball picking robot vision module (7) use Pixy CmuCam5 image recognition sensor (67)；Infrared ray is kept away
Barrier sensor is used for for carrying out avoidance, Pixy CmuCam5 image recognition sensor (67) during robot ambulation by vision
The location information for acquiring the ball captured sends master controller, control walking steering mechanism (1) running fix to.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811073534.1A CN109048844B (en) | 2018-09-14 | 2018-09-14 | Mechanical arm structure and ball picking robot constructed by same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811073534.1A CN109048844B (en) | 2018-09-14 | 2018-09-14 | Mechanical arm structure and ball picking robot constructed by same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109048844A true CN109048844A (en) | 2018-12-21 |
| CN109048844B CN109048844B (en) | 2024-03-29 |
Family
ID=64761777
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811073534.1A Active CN109048844B (en) | 2018-09-14 | 2018-09-14 | Mechanical arm structure and ball picking robot constructed by same |
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| CN109048844B (en) | 2024-03-29 |
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